]> 2026-04-26T05:11:59+00:00 Online Control Customization via Optimization-Based Control 0 en In this chapter, we present a framework for online control customization that makes use of finite-horizon, optimal control combined with real-time trajectory generation and optimization. The results are based on a novel formulation of receding-horizon optimal control that replaces the traditional terminal constraints with a control Lyapunov function-based terminal cost. This formulation leads to reduced computational requirements and allows proof of stability under a variety of realistic assumptions on computation. By combining these theoretical advances with advances in computational power for real-time, embedded systems, we demonstrate the efficacy of online control customization via optimization-based control. The results are demonstrated using a nonlinear, flight control experiment at Caltech. Richard M. Murray et al. 2001n In <i>Software-Enabled Control: Information Technology for Dynamical Systems</i>, T. Samad and G. Balas (eds.), IEEE Press, 2001 (submitted) mur+03-sec Book Chapter 2016-05-15T06:19:09Z 2457523.7632986 Online Control Customization via Optimization-Based Control Title 102 en Title